Position tracking using inertial and magnetic sensing aided by permanent magnet

This paper describes a method for spatial tracking of a strapdown device that can be used for design of human computer interfaces. Inertial Measurement Unit (IMU) is used to obtain 6-dof position exploiting the so-called ZUPT technique by the means of the Kalman Filter. Additional corrections of position are done using magnetometer readings in the presence of static magnetic field induced by permanent magnet that overshadow geomagnetic field. This correction allows us to overcome drifting errors of integration of IMU readings. We have also presented comparisons of different models for magnetic field reconstruction that is crucial for this system.